CN102353543B - Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling - Google Patents
Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling Download PDFInfo
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Abstract
The invention discloses a testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling. According to the method, an MEMS (micro electro mechanical system) gyroscope-free strapdown microinertia measurement technique is applied; intelligent wheel sensing modules are mounted on the equatorial planes of hubs of all wheels of a car; an intelligent inertia measurement unit is mounted on a car body; the sensing data of the intelligent wheel sensing modules are obtained according to the self-adaptive variable-frequency sampling of the longitudinal speed of the car body obtained through calculation; braking performance parameters (wheel slip ratio) are obtained through signal conditioning, digitalization, an attitude algorithm and a braking algorithm by combining with the data of the intelligent inertia measuring unit mounted on the car body; the wheel slip ratio (such as the ABS braking performance) measured by an automotive ABS is monitored; the trend of the braking performance parameters can be predicted by carrying out data fusion and analysis on the parameters; and the movement safety condition of a motor vehicle is actively evaluated.
Description
Technical field
The present invention relates to exciting car safe operation status monitoring field, relate in particular to a kind of based on the wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring automobile real-time condition of ABS performance in the process of moving.
Background technology
Motor vehicle operation installment state monitoring technology is the Main Means that guarantees motor vehicle safe drive, is also the inexorable trend of motor vehicle security of operation detection technique development.Adopt motor vehicle security of operation condition monitoring technology to carry out dynamic monitoring to motor vehicle security of operation state and operating index, find in time and prevention vehicle trouble, the development of automobile safety operation, promotion automotive industry and communications and transportation cause is of great importance.
Motor vehicle security of operation status monitoring mainly comprises monitoring motor vehicle (vehicle body, wheel) athletic posture parameter, dynamic load parameters, braking ability parameter.Braking ability is to evaluate the most important technical indicator of motor vehicle, is one of elementary item of automotive safety detection.Wheel slip is the parameter that can weigh the best on-position of wheel anti-lock braking system, and prevention automobile braking performance fault is had to material impact.
At present, automobile ABS braking performance test is, by the non-rotating part sensor installation at wheel, the gear ring of rotation of wheel parts or bearing are carried out to sensing measurement, utilize fixing gear ring number of teeth equal angles interval to sample, fail according to actual conditions adaptively changing frequency acquisition wheel sensing data, robotization, intelligent level that automobile ABS braking ability is tested are low.
Patent related to the present invention has " a kind of based on wheel-loaded intelligent sensing wheel brake performance monitoring methods " (grant number: ZL200910077744.2), the main braking ability parameter of wheel that the method that this patent is mentioned can be monitored comprises: wheel slip, wheel coefficient of road adhesion, wheel braking force, wheel braking retarded velocity etc., but do not adopt the method for self-adapting frequency conversion sampling, but sample with fixed frequency, its weak point is: if the too low parameter measurement precision that causes of sample frequency is inadequate, if the very high computation burden that causes the waste of radio communication energy consumption in sampling process and increase the weight of processor of proportion.
Summary of the invention
For solving the problem and blemish of above-mentioned middle existence, the invention provides a kind of based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing.The method application MEMS gyro free strap down inertia measurement technology that declines, by intelligent sensing module being installed on the wheel hub equatorial plane in each wheel of motor vehicle, central control module self-adaptation is obtained sensing module and is gathered wheel acceleration sensing data and vehicle body velocity information, through Attitude Algorithm, braking algorithm, calculate the main braking ability parameter that obtains wheel, the main braking ability parameter of this wheel is wheel slip.Motor vehicle sports safety situation can be monitored and initiatively be evaluated to parameter, through data fusion and analysis.Described technical scheme is as follows:
Based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing, comprising:
Accelerometer by vehicle body intelligence Inertial Measurement Unit gathers body-acceleration sensor data, and the body-acceleration sensor data that gather are carried out to filtering, compensation, sends to central control module;
Central control module carries out Attitude Algorithm to body-acceleration sensor data and obtains vehicle body longitudinal velocity;
Central control module sends order makes its execution obtain the task of wheel acceleration to intelligent sensing module, simultaneously, central control module is calculated the number of wheel speed pulse signal in the auto Wheel Speed Sensor measuring unit time according to vehicle body longitudinal velocity, its frequency is f1; And self-adaptation takes to be greater than the sample frequency f2 of f1, obtain the tangential acceleration signal from wheel intelligent sensing module;
Wheel intelligent sensing module receives the order of central control module, draws tangential acceleration data, and the tangential acceleration data that obtain are sent to central control module according to the command signal receiving;
Central control module receives after the tangential acceleration of wheel intelligent sensing module, draws the pace of wheel through Attitude Algorithm, integral and calculating;
Central control module carries out computing by Attitude Algorithm and braking algorithm to the pace of vehicle body speed and wheel, obtains the performance parameter of automobile ABS: wheel slip;
Wheel braking performance parameter and vehicle body braking ability parameter are carried out data fusion and analyzed the variation tendency of measuring wheel braking performance; So that the braking ability of wheel is carried out to safety evaluation.
The beneficial effect of technical scheme provided by the invention is:
(1) by the application MEMS gyro free strap down inertia measurement commercial measurement wheel braking performance that declines, realized self-adapting frequency conversion sampling testing automobile abs braking performance under different travelling speed;
(2) in the mode of self-adapting frequency conversion sampling, test, the vehicle wheel rotational speed that the vehicle wheel rotational speed precision of acquisition obtains higher than ABS wheel speed sensors, can access high-precision automotive wheel slip rate;
(3) by analyses and prediction program, wheel braking performance can be formed to complete, a relatively independent measuring table, and can provide uniform data interface modes to be applied for relevant government administration section.
Accompanying drawing explanation
Fig. 1 is with wheel side view signal wheel-loaded intelligent sensing wheel abs braking performance test module scheme of installation;
Fig. 2 is wheel vertical view signal wheel-loaded intelligent sensing wheel abs braking performance test module scheme of installation;
Fig. 3 is wheel front elevation signal wheel-loaded intelligent sensing wheel abs braking performance test module scheme of installation;
Fig. 4 a is wheel Intellisense node installation vertical view;
Fig. 4 b is vehicle body Intellisense node installation front view;
Fig. 4 c is vehicle body Intellisense node installation vertical view;
Fig. 5 is based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test system hardware structure schematic diagram;
Fig. 6 is the principle flow chart based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method;
Fig. 7 is the self-adapting frequency conversion sampling principle process flow diagram based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method;
Fig. 8 is the tangential acceleration curve of one of them regulation point of tire that utilizes the wheel load type intelligent sensing module monitors of Fig. 1;
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail:
Consult Fig. 1, Fig. 2 and Fig. 3 and with wheel side view, wheel vertical view and wheel front elevation signal wheel-loaded intelligent sensing wheel ABS (Anti-Lock Braking System anti-lock braking system) braking performance test module, signal is installed respectively, wheel intelligent sensing module 2 is installed on the surface of the wheel 1 wheel hub equatorial plane, the installation requirement of module: three sensitive axes X-axis of acceleration transducer, Y-axis, Z axis point to respectively the side direction of wheel hub tangential direction, wheel hub, the direction in the axle center of wheel hub; The left side is that Oxyz is the right-handed coordinate system of quadrature.
Fig. 4 a, 4b and 4c are respectively wheel Intellisense node installation vertical view, vehicle body Intellisense node installation front view and vehicle body Intellisense node installation vertical view.Comprise wheel 1, wheel intelligent sensing module 2, central control module 3, vehicle body intelligent sensing module 4, wherein wheel intelligent sensing module is installed on the surface, wheel hub equator of each wheel, vehicle body intelligent sensing module is installed on car inside, and central control module is installed in car; In wheel intelligent sensing module and car, between central control module, by less radio-frequency, realize two-way communication, vehicle body intelligent sensing module comprises four vehicle body Intellisense nodes, be respectively 4a, 4b, 4c and 4d, their adopt the mode of inertia strapdown to install, and between each node and central control module, by the realization of CAN bus, communicate by letter.
Consulting Fig. 5, is the system based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method, comprises the wheel intelligent sensing module 2 being installed in each wheel and is installed on the central control module 3 in car; Wherein wheel intelligent sensing module 2 comprises first without gyroscopic inertia measuring unit 2a, conditioning unit 2b, wireless singlechip 2c and the first power supply 2d; First without gyroscopic inertia measuring unit and conditioning unit electrical connection, and first comprises an acceleration transducer 21a and temperature sensor 22a without gyroscopic inertia measuring unit; Acceleration transducer and temperature sensor outputting analog signal.Above-mentioned conditioning unit and wireless singlechip interconnect, and conditioning unit for to input acceleration and temperature signal carry out filtering and pressure regulation, its signal is simulating signal; Integrated wireless transmission circuit and single-chip microcomputer on wireless singlechip, for carrying out the bi-directional communication function of central control module in sensing acquisition, computing realization and car.The first power supply is without gyroscopic inertia measuring unit, conditioning unit and wireless singlechip, to provide direct supply for first; Wherein, the first acceleration transducer without gyroscopic inertia measuring unit adopts acceleration transducer ADX193, and wireless singlechip adopts JN5139.In car, central control module 3 comprises wireless singlechip 3a, vehicle body intelligence Inertial Measurement Unit (second without gyroscopic inertia measuring unit) 3b, second source 3c, arm processor 3d and man-machine interaction unit 3e; Wireless singlechip is realized and wheel intelligent sensing module communications functions, by digital signal and arm processor, interconnects, and wherein, wireless singlechip adopts JN5139; Vehicle body intelligence Inertial Measurement Unit and arm processor interlink, and this signal is digital signal; Second source provides direct supply for wireless singlechip, vehicle body intelligence Inertial Measurement Unit, arm processor and man-machine interaction unit; Man-machine interaction unit is comprised of liquid crystal display 31e, touch-screen 32e, hummer 33e; Liquid crystal display, for the output display information of output display arm processor, is mainly wheel abs braking performance test parameter, and touch-screen is for parameters, data query; When hummer breaks down for system, by arm processor, drive and send warning.
Referring to Fig. 6, Fig. 7: the system based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring automobile ABS braking performance test method that the present embodiment relates to realizes, and adopts C language to work out each corresponding processing program on software, and its workflow comprises:
The accelerometer of vehicle body in step 101 central control module intelligence Inertial Measurement Unit gathers body-acceleration sensor data, after filtering, data are dealt into central control module in car after the data processing such as compensation.
Step 102 central control module carries out Attitude Algorithm to body-acceleration sensor data and calculates.
Step 103 draws vehicle body speed by the Attitude Algorithm of step 102.
Step 104 central control module sends order automatically makes its execution obtain the task of wheel acceleration to wheel intelligent sensing module, the order that the wireless singlechip of the wireless singlechip reception central control module of wheel intelligent sensing module sends over, self-adaptation is carried out data acquisition, show: utilize the decline tangential acceleration (acceleration of directions X in Fig. 3) of Inertial Measurement Unit output of gyro free strap down, temperature analog signal is after conditioning unit signal condition, through the ADC of wireless singlechip peripheral hardware, convert digital signal to, in down trigger mode, offer the CPU access of wireless singlechip.
Step 105 wireless singlechip carries out digital filtering, compensates the tangential acceleration that calculates wheel signal, characterizes the state of any instantaneous tangential acceleration of wheel, and according to data transmission being outputed to the wireless singlechip of central control module in car.
The vehicle body longitudinal velocity that step 106 central control module obtains according to step 103 is calculated the number of ABS system wheel speed pulse signal within the unit interval that automobile carries, and central control module self-adaptation takes sample frequency f2 (f2 > f1) to obtain the tangential acceleration signal sampling wheel intelligent sensing module data from wheel intelligent sensing module.The projectional technique of f1 is: by wheel speed formula:
obtain
wherein ω (t) is angular speed of wheel, v
bfor the tangential linear velocity of wheel, in the situation that equaling 0, wheel slip approximates vehicle body longitudinal velocity, T
1for sampling period (obtaining the sampling period of sensor information, is fixed value), R is radius of wheel.Because f1 is along with v
bvariation and change, the ABS system of automobile own is controlled impulse sampling quantity in the sampling period along with v
bvariation and change, at v
bimpulse sampling quantity during increase in the sampling period reduces, and affects the monitoring accuracy of ABS performance, so central control module self-adaptation takes to be greater than the sample frequency f2 of f1, is conducive to improve the monitoring accuracy of ABS performance.
In step 107 car, the wireless singlechip of central control module receives the tangential acceleration of wheel intelligent sensing module, and through Attitude Algorithm, integral and calculating, draws the pace of wheel, characterizes the state of any instantaneous velocity of wheel.
In step 108 car, central control module is used Attitude Algorithm and braking algorithm to carry out computing to the wheel pace of the vehicle body speed by step 103, step 107.
Step 109 obtains automobile ABS braking ability parameter by step 108: wheel slip.
The wheel slip that step 110 pair automobile ABS is surveyed is monitored (abs braking performance), and wheel braking performance parameter and vehicle body braking ability parameter are carried out to data fusion and analysis.
Step 111 is by the measurable variation tendency that goes out wheel braking performance of step 110.
Step 112 pair wheel braking performance is carried out active safety evaluation.
Referring to Fig. 8, it is the tangential acceleration curve of one of them regulation point of tire of intelligent sensing module monitors of obtaining of the present embodiment.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing, it is characterized in that, described method comprises:
Accelerometer by vehicle body intelligence Inertial Measurement Unit gathers body-acceleration sensor data, and the body-acceleration sensor data that gather are carried out to filtering, compensation, sends to central control module;
Central control module carries out Attitude Algorithm to body-acceleration sensor data and obtains vehicle body longitudinal velocity;
Central control module sends order makes its execution obtain the task of wheel acceleration to intelligent sensing module, simultaneously, central control module is calculated the number of wheel speed pulse signal in the auto Wheel Speed Sensor measuring unit time according to vehicle body longitudinal velocity, its frequency is f1; And self-adaptation takes to be greater than the sample frequency f2 of f1, obtain the tangential acceleration signal from wheel intelligent sensing module; Described f1 is by wheel speed formula
obtain
wherein, ω (t) is angular speed of wheel, v
bfor the tangential linear velocity of wheel, T
1for sampling period, R is radius of wheel;
Wheel intelligent sensing module receives the order of central control module, draws tangential acceleration data, and the tangential acceleration data that obtain are sent to central control module according to the command signal receiving;
Central control module receives after the tangential acceleration of wheel intelligent sensing module, draws the pace of wheel through Attitude Algorithm, integral and calculating;
Central control module carries out computing by Attitude Algorithm and braking algorithm to the pace of vehicle body speed and wheel, obtains the braking ability parameter of automobile ABS: wheel slip;
Wheel braking performance parameter and vehicle body braking ability parameter are carried out data fusion and analyzed the variation tendency of measuring wheel braking performance; So that the braking ability of wheel is carried out to safety evaluation.
2. according to claim 1 based on wheel load type intelligent sensing self-adapting frequency conversion sampling monitoring performance of ABS method of testing, it is characterized in that, the tangential acceleration method of described wheel intelligent sensing module samples wheel comprises: wheel tangential acceleration signal is carried out to mould/number conversion, temperature compensated processing again, interpolation decoupling zero are processed and are obtained the tangential acceleration value of wheel intelligent sensing module mounting points, and carry out data transmit-receive by communication.
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| CN103792096A (en) * | 2014-02-27 | 2014-05-14 | 上海西派埃自动化仪表工程有限责任公司 | Portable brake performance tester with embedded electronic gyroscope and test method |
| CN104833529A (en) * | 2015-05-19 | 2015-08-12 | 西华大学 | Vehicle performance test system based on inertial navigation and test method thereof |
| CN109764844A (en) * | 2019-02-14 | 2019-05-17 | 中国建筑科学研究院有限公司 | Building track slippage monitoring method |
| CN110745163A (en) * | 2019-10-29 | 2020-02-04 | 唐智科技湖南发展有限公司 | Method, system and equipment for realizing rotating speed tracking sampling |
| CN111537241B (en) * | 2020-05-12 | 2023-02-24 | 北京汽车集团越野车有限公司 | Vehicle braking performance evaluation method |
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